This master thesis describes the implementation process of sound localization and sound tracking in three-dimensional space based on ManyEars framework, 8soundsUSB sound card and ROS packages. The designed ROS package enables sound localization based on beamforming and sound tracking based on particle filtering, Bayes tracker with von Mises distribution and Bayes tracker with von Mises-Fisher distribution. The analysis of the tracking methods is made with visualization tools ROS rviz, ROS rxplot and mathematical user interface pylab.